C# で joystick を利用する

gistfile1.cs

using System;
using System.IO;
using System.Threading.Tasks;
// gmcs -sdk:4.5 /o:joytest.exe joytest.cs

namespace Sample.bot
{

    public struct js_event
    {
        public UInt32 time;    /* event timestamp in milliseconds */
        public Int16 value;    /* value */
        public byte type;      /* event type */
        public byte number;    /* axis/button number */
        public override string ToString()
        {
            return string.Format("time:{0} val:{1} type:{2} num:{3}", time, value, type, number);
        }
    }
    public class Joystick
    {
        int Axis0 { get; set; }
        int Axis1 { get; set; }
        int Axis2 { get; set; }
        int Axis3 { get; set; }
        int Axis4 { get; set; }
        int Axis5 { get; set; }

        int Axis23 { get; set; }
        int Axis24 { get; set; }
        int Axis25 { get; set; }
        int Axis26 { get; set; }

        bool Button0 { get; set; }
        bool Button1 { get; set; }
        bool Button2 { get; set; }
        bool Button3 { get; set; }
        bool Button4 { get; set; }
        bool Button5 { get; set; }
        bool Button6 { get; set; }
        bool Button7 { get; set; }
        bool Button8 { get; set; }
        bool Button9 { get; set; }
        bool Button10 { get; set; }
        bool Button11 { get; set; }
        bool Button12 { get; set; }
        bool Button13 { get; set; }
        bool Button14 { get; set; }
        bool Button15 { get; set; }

        public bool SELECT { get { return Button0; } }
        public bool LeftStick { get { return Button1; } }
        public bool RightStick { get { return Button2; } }
        public bool START { get { return Button3; } }
        public bool Up { get { return Button4; } }
        public bool Right { get { return Button5; } }
        public bool Down { get { return Button6; } }
        public bool Left { get { return Button7; } }
        public bool L2 { get { return Button8; } }
        public bool R2 { get { return Button9; } }
        public bool L1 { get { return Button10; } }
        public bool R1 { get { return Button11; } }
        public bool Triangle { get { return Button12; } }
        public bool Circle { get { return Button13; } }
        public bool Cross { get { return Button14; } }
        public bool Square { get { return Button15; } }

        public int LeftAxisX { get { return Axis0; } }
        public int LeftAxisY { get { return Axis1; } }
        public int RightAxisX { get { return Axis2; } }
        public int RightAxisY { get { return Axis3; } }

        public override string ToString()
        {
            return string.Format("Axis {0} {1} {2} {3} {4} {5} ",
Axis0, Axis1, Axis2, Axis3, Axis4, Axis5) +
string.Format("{0} ", Axis23) +
string.Format("{0} ", Axis24) +
string.Format("{0} ", Axis25) +
string.Format("{0} ", Axis26) +
"Btn " +
string.Format("{0} ", Button0 ? 1 : 0) +
string.Format("{0} ", Button1 ? 1 : 0) +
string.Format("{0} ", Button2 ? 1 : 0) +
string.Format("{0} ", Button3 ? 1 : 0) +
string.Format("{0} ", Button4 ? 1 : 0) +
string.Format("{0} ", Button5 ? 1 : 0) +
string.Format("{0} ", Button6 ? 1 : 0) +
string.Format("{0} ", Button7 ? 1 : 0) +
string.Format("{0} ", Button8 ? 1 : 0) +
string.Format("{0} ", Button9 ? 1 : 0) +
string.Format("{0} ", Button10 ? 1 : 0) +
string.Format("{0} ", Button11 ? 1 : 0) +
string.Format("{0} ", Button12 ? 1 : 0) +
string.Format("{0} ", Button13 ? 1 : 0) +
string.Format("{0} ", Button14 ? 1 : 0) +
string.Format("{0} ", Button15 ? 1 : 0) +
"";
        }

        public enum TYPE : byte { AXIS = 0x02, BUTTON = 0x01 }
        public enum STATUS : byte { PRESSED = 0x01, RELEASED = 0x00 }

        public static bool IsAxis(byte type)
        {
            return (type & (byte)TYPE.AXIS) != 0;
        }
        public static bool IsButton(byte type)
        {
            return (type & (byte)TYPE.BUTTON) != 0;
        }

        public void SetValue(byte type, byte num, int val)
        {
            if (IsAxis(type))
            {
                switch (num)
                {
                    case 0: this.Axis0 = val; break;
                    case 1: this.Axis1 = val; break;
                    case 2: this.Axis2 = val; break;
                    case 3: this.Axis3 = val; break;
                    case 4: this.Axis4 = val; break;
                    case 5: this.Axis5 = val; break;

                    case 23: this.Axis23 = val; break;
                    case 24: this.Axis24 = val; break;
                    case 25: this.Axis25 = val; break;
                    case 26: this.Axis26 = val; break;
                }
            }
            else if (IsButton(type))
            {
                switch (num)
                {
                    case 0: this.Button0 = val != 0; break;
                    case 1: this.Button1 = val != 0; break;
                    case 2: this.Button2 = val != 0; break;
                    case 3: this.Button3 = val != 0; break;
                    case 4: this.Button4 = val != 0; break;
                    case 5: this.Button5 = val != 0; break;
                    case 6: this.Button6 = val != 0; break;
                    case 7: this.Button7 = val != 0; break;
                    case 8: this.Button8 = val != 0; break;
                    case 9: this.Button9 = val != 0; break;
                    case 10: this.Button10 = val != 0; break;
                    case 11: this.Button11 = val != 0; break;
                    case 12: this.Button12 = val != 0; break;
                    case 13: this.Button13 = val != 0; break;
                    case 14: this.Button14 = val != 0; break;
                    case 15: this.Button15 = val != 0; break;
                }
            }
        }
        public int GetAxisValue(byte num)
        {
            switch (num)
            {
                case 0: return this.Axis0;
                case 1: return this.Axis1;
                case 2: return this.Axis2;
                case 3: return this.Axis3;
                case 4: return this.Axis4;
                case 5: return this.Axis5;

                case 23: return this.Axis23;
                case 24: return this.Axis24;
                case 25: return this.Axis25;
                case 26: return this.Axis26;
                default: return 0;
            }
        }
        public bool GetButtonValue(byte num)
        {
            switch (num)
            {
                case 0: return this.Button0;
                case 1: return this.Button1;
                case 2: return this.Button2;
                case 3: return this.Button3;
                case 4: return this.Button4;
                case 5: return this.Button5;
                case 6: return this.Button6;
                case 7: return this.Button7;
                case 8: return this.Button8;
                case 9: return this.Button9;
                case 10: return this.Button10;
                case 11: return this.Button11;
                case 12: return this.Button12;
                case 13: return this.Button13;
                case 14: return this.Button14;
                case 15: return this.Button15;
                default: return false;
            }
        }
    }
    public class JoystickEventArgs : EventArgs
    {
        public Joystick Joystick { get; set; }
        public js_event jsevent { get; set;  }
    }

    public class joytest
    {
        public static event Action<object, JoystickEventArgs> OnChangedJoystick;

        public static void Main(string[] args)
        {
            Console.WriteLine("joystick test");
            joytest.OnChangedJoystick += ChangedJoystick;

            var j = new Joystick();

            var fs = File.OpenRead("/dev/input/js0");
            var br = new BinaryReader(fs);
            var task = new Task(() =>
            {
                while (true)
                {
                    js_event js;
                    js.time = br.ReadUInt32();
                    js.value = br.ReadInt16();
                    js.type = br.ReadByte();
                    js.number = br.ReadByte();
                    // Console.WriteLine(js.ToString());

                    bool changed = false;
                    if (Joystick.IsAxis(js.type))
                    {
                        if (j.GetAxisValue(js.number) != js.value)
                        {
                            j.SetValue(js.type, js.number, js.value);
                            changed = true;
                        }
                    }
                    else if (Joystick.IsButton(js.type))
                    {
                        if (j.GetButtonValue(js.number) != (js.value != 0))
                        {
                            j.SetValue(js.type, js.number, js.value);
                            changed = true;
                        }
                    }
                    if (Joystick.IsAxis(js.type) && js.number >= 6) changed = false;
                    if (Joystick.IsButton(js.type) && js.number >= 16) changed = false;

                    if (changed)
                    {
                        if (OnChangedJoystick != null)
                        {
                            OnChangedJoystick(null, new JoystickEventArgs() { 
                                Joystick = j, jsevent = js });
                        }
                        // Console.Write("{0} {1} {2} ", js.type, js.number, js.value );
                        // Console.WriteLine(j.ToString());
                    }
                }
            });
            task.Start();
            task.Wait();

        }
        static void ChangedJoystick(object sender, JoystickEventArgs e)
        {
            var js = e.jsevent;
            Console.Write("{0} {1} {2} ", js.time , js.number, js.value);
            Console.WriteLine(e.Joystick.ToString());
        }

    }
}